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                    第1章 ROS2概述与环境搭建
            
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        <li class="chapter " data-level="1.2.1" data-path="chapter1/11-ros2jian-jie.html">
            
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                    1.1 ROS2简介
            
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                    1.1.1 ROS2发展历程
            
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                    1.1.2 ROS2组成体系
            
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        <li class="chapter " data-level="1.2.1.3" data-path="chapter1/11-ros2jian-jie/113-ros2you-shi.html">
            
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                    1.1.3 ROS2优势
            
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                    1.2 ROS2安装
            
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                    1.2.1 安装ROS2
            
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                    1.2.2 测试ROS2
            
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                    1.2.3 安装colcon构建工具
            
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                    1.3 ROS2快速体验
            
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                    1.3.1 案例简介
            
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                    1.3.2 HelloWorld（C++）
            
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                    1.3.3 HelloWorld（Python）
            
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                    1.3.4 运行优化
            
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                    1.4 ROS2集成开发环境搭建
            
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                    1.4.1 安装VSCode
            
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                    1.4.2 安装终端
            
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                    1.4.3 安装git
            
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                    1.5 ROS2体系框架
            
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                    1.5.1 ROS2文件系统
            
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                    1.5.2 ROS2核心模块
            
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                    1.5.3 ROS2技术支持
            
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                    1.5.4 ROS2应用方向
            
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                    1.6 本章小结
            
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                    第2章 ROS2通信机制核心
            
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                    2.1 通信机制简介
            
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                    2.2 话题通信
            
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                    2.2.1 案例以及案例分析
            
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        <li class="chapter " data-level="1.3.2.2" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/222-hua-ti-tong-xin-c-shi-73b028-yuan-sheng-xiao-606f29.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/222-hua-ti-tong-xin-c-shi-73b028-yuan-sheng-xiao-606f29.html">
            
                    
                    2.2.2 话题通信之原生消息（C++）
            
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        <li class="chapter " data-level="1.3.2.3" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/223-hua-ti-tong-xin-python-shi-73b028-yuan-sheng-xiao-606f29.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/223-hua-ti-tong-xin-python-shi-73b028-yuan-sheng-xiao-606f29.html">
            
                    
                    2.2.3 话题通信之原生消息（Python）
            
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        <li class="chapter " data-level="1.3.2.4" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/222-hua-ti-tong-xin-jie-kou-xiao-xi.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/222-hua-ti-tong-xin-jie-kou-xiao-xi.html">
            
                    
                    2.2.4 话题通信自定义接口消息
            
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        <li class="chapter " data-level="1.3.2.5" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/223-hua-ti-tong-xin-c-shi-xian.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/223-hua-ti-tong-xin-c-shi-xian.html">
            
                    
                    2.2.5 话题通信之自定义消息（C++）
            
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        <li class="chapter " data-level="1.3.2.6" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/224-hua-ti-tong-xin-python-shi-xian.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/224-hua-ti-tong-xin-python-shi-xian.html">
            
                    
                    2.2.6 话题通信之自定义消息（Python）
            
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        <li class="chapter " data-level="1.3.3" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin.html">
            
                    
                    2.3 服务通信
            
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        <li class="chapter " data-level="1.3.3.1" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin/231-fu-wu-tong-xin-li-lun-mo-xing.html">
            
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                    2.3.1 案例以及案例分析
            
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        <li class="chapter " data-level="1.3.3.2" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin/232-hua-ti-tong-xin-jie-kou-xiao-xi.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin/232-hua-ti-tong-xin-jie-kou-xiao-xi.html">
            
                    
                    2.3.2 服务通信接口消息
            
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        <li class="chapter " data-level="1.3.3.3" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin/233-fu-wu-tong-xin-c-shi-xian.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin/233-fu-wu-tong-xin-c-shi-xian.html">
            
                    
                    2.3.3 服务通信（C++）
            
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        <li class="chapter " data-level="1.3.3.4" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin/234-fu-wu-tong-xin-python-shi-xian.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin/234-fu-wu-tong-xin-python-shi-xian.html">
            
                    
                    2.3.4 服务通信（Python）
            
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        <li class="chapter " data-level="1.3.4" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin.html">
            
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                    2.4 动作通信
            
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                    2.4.1 案例以及案例分析
            
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        <li class="chapter " data-level="1.3.4.2" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/242-dong-zuo-tong-xin-jie-kou-xiao-xi.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/242-dong-zuo-tong-xin-jie-kou-xiao-xi.html">
            
                    
                    2.4.2 动作通信接口消息
            
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        <li class="chapter " data-level="1.3.4.3" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/243-dong-zuo-tong-xin-c-shi-xian.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/243-dong-zuo-tong-xin-c-shi-xian.html">
            
                    
                    2.4.3 动作通信（C++）
            
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        <li class="chapter " data-level="1.3.4.4" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/244-dong-zuo-tong-xin-python-shi-xian.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/244-dong-zuo-tong-xin-python-shi-xian.html">
            
                    
                    2.4.4 动作通信（Python）
            
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                    2.5 参数服务
            
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                    2.5.1 案例以及案例分析
            
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        <li class="chapter " data-level="1.3.5.2" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/25-can-shu-fu-wu/252-can-shu-shu-ju-lei-xing.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/25-can-shu-fu-wu/252-can-shu-shu-ju-lei-xing.html">
            
                    
                    2.5.2 参数数据类型
            
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        </li>
    
        <li class="chapter " data-level="1.3.5.3" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/25-can-shu-fu-wu/253-can-shu-fu-wu-c-shi-xian.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/25-can-shu-fu-wu/253-can-shu-fu-wu-c-shi-xian.html">
            
                    
                    2.5.3 参数服务（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.3.5.4" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/25-can-shu-fu-wu/254-can-shu-fu-wu-python-shi-xian.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/25-can-shu-fu-wu/254-can-shu-fu-wu-python-shi-xian.html">
            
                    
                    2.5.4 参数服务（Python）
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.3.6" data-path="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/28-ben-zhang-xiao-jie.html">
            
                <a href="di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/28-ben-zhang-xiao-jie.html">
            
                    
                    2.6 本章小结
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong.html">
            
                    
                    第3章 ROS2通信机制补充
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.1" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/31-fen-bu-shi.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/31-fen-bu-shi.html">
            
                    
                    3.1 分布式
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.2" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/32-gong-zuo-kong-jian-fu-gai.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/32-gong-zuo-kong-jian-fu-gai.html">
            
                    
                    3.2 工作空间覆盖
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.3" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/33-yuan-gong-neng-bao.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/33-yuan-gong-neng-bao.html">
            
                    
                    3.3 元功能包
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.4" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming.html">
            
                    
                    3.4 节点重名
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.4.1" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/341-rou-si.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/341-rou-si.html">
            
                    
                    3.4.1 ros2 run设置节点名称
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.4.2" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/342-launch-wen-jian-jie-jue-jie-dian-zhong-ming-wen-ti.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/342-launch-wen-jian-jie-jue-jie-dian-zhong-ming-wen-ti.html">
            
                    
                    3.4.2 launch文件设置节点名称
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.4.3" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/343-bian-ma-jie-jue-jie-dian-zhong-ming-wen-ti.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/343-bian-ma-jie-jue-jie-dian-zhong-ming-wen-ti.html">
            
                    
                    3.4.3 编码设置节点名称
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4.5" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming.html">
            
                    
                    3.5 话题重名
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.5.1" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/351-ros2-run-xiu-gai-hua-ti-ming-cheng.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/351-ros2-run-xiu-gai-hua-ti-ming-cheng.html">
            
                    
                    3.5.1 ros2 run设置话题名称
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.5.2" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/352-launch-wen-jian-xiu-gai-hua-ti-ming-cheng.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/352-launch-wen-jian-xiu-gai-hua-ti-ming-cheng.html">
            
                    
                    3.5.2 launch文件设置话题名称
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.5.3" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/353-bian-ma-she-zhi-hua-ti-ming-cheng.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/353-bian-ma-she-zhi-hua-ti-ming-cheng.html">
            
                    
                    3.5.3 编码设置话题名称
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4.6" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api.html">
            
                    
                    3.6 时间相关API
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.6.1" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/361-rate.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/361-rate.html">
            
                    
                    3.6.1 Rate
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.6.2" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/362-time.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/362-time.html">
            
                    
                    3.6.2 Time
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.6.3" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/363-duration.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/363-duration.html">
            
                    
                    3.6.3 Duration
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.6.4" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/364-time-yu-duration-yun-suan.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/364-time-yu-duration-yun-suan.html">
            
                    
                    3.6.4 Time 与 Duration 运算
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4.7" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling.html">
            
                    
                    3.7 通信机制工具
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.7.1" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling/371-ming-ling-gong-ju.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling/371-ming-ling-gong-ju.html">
            
                    
                    3.7.1 命令工具
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.7.2" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling/372-rqtgong-ju-xiang.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling/372-rqtgong-ju-xiang.html">
            
                    
                    3.7.2 rqt工具箱
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4.8" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi.html">
            
                    
                    3.8 通信机制实操
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.8.1" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/381-hua-ti-tong-xin-lian-xi.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/381-hua-ti-tong-xin-lian-xi.html">
            
                    
                    3.8.1 话题通信案例分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.2" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/382-fu-wu-tong-xin-lian-xi.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/382-fu-wu-tong-xin-lian-xi.html">
            
                    
                    3.8.2 话题通信实现
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.3" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/383-dong-zuo-tong-xin-lian-xi.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/383-dong-zuo-tong-xin-lian-xi.html">
            
                    
                    3.8.3 服务通信案例分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.4" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/384-can-shu-fu-wu-lian-xi.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/384-can-shu-fu-wu-lian-xi.html">
            
                    
                    3.8.4 服务通信实现
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.5" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/385-dong-zuo-tong-xin-an-li-fen-xi.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/385-dong-zuo-tong-xin-an-li-fen-xi.html">
            
                    
                    3.8.5 动作通信案例分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.6" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/386-dong-zuo-tong-xin-shi-xian.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/386-dong-zuo-tong-xin-shi-xian.html">
            
                    
                    3.8.6 动作通信实现
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.7" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/387-can-shu-fu-wu-an-li-fen-xi.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/387-can-shu-fu-wu-an-li-fen-xi.html">
            
                    
                    3.8.7 参数服务案例分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.8" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/388-can-shu-fu-wu-shi-xian.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/388-can-shu-fu-wu-shi-xian.html">
            
                    
                    3.8.8 参数服务实现
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4.9" data-path="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/39-ben-zhang-xiao-jie.html">
            
                <a href="di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/39-ben-zhang-xiao-jie.html">
            
                    
                    3.9 本章小结
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.5" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt.html">
            
                    
                    第4章 ROS2工具之launch与rosbag2
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.5.1" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/41-launch-jian-jie.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/41-launch-jian-jie.html">
            
                    
                    4.1 启动文件launch简介
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.5.1.1" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/41-launch-jian-jie/411-launch-ji-ben-shi-yong-liu-cheng.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/41-launch-jian-jie/411-launch-ji-ben-shi-yong-liu-cheng.html">
            
                    
                    4.1.1 launch 基本使用流程
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.5.2" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian.html">
            
                    
                    4.2 launch之Python实现
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.5.2.1" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/421-jie-dian-she-zhi.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/421-jie-dian-she-zhi.html">
            
                    
                    4.2.1 节点设置
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.2.2" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/422-zhi-xing-ming-ling.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/422-zhi-xing-ming-ling.html">
            
                    
                    4.2.2 执行指令
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.2.3" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/424-wen-jian-bao-han.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/424-wen-jian-bao-han.html">
            
                    
                    4.2.3 参数设置
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.2.4" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/425-wen-jian-bao-han.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/425-wen-jian-bao-han.html">
            
                    
                    4.2.4 文件包含
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.2.5" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/426-fen-zu-she-zhi.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/426-fen-zu-she-zhi.html">
            
                    
                    4.2.5 分组设置
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.2.6" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/423-tian-jia-shi-jian.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/423-tian-jia-shi-jian.html">
            
                    
                    4.2.6 添加事件
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.5.3" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian.html">
            
                    
                    4.3 launch之xml、yaml实现
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.5.3.1" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/431-jie-dian-she-zhi.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/431-jie-dian-she-zhi.html">
            
                    
                    4.3.1 节点设置
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.3.2" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/432-zhi-xing-zhi-ling.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/432-zhi-xing-zhi-ling.html">
            
                    
                    4.3.2 执行指令
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.3.3" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/433-can-shu-she-zhi.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/433-can-shu-she-zhi.html">
            
                    
                    4.3.3 参数设置
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.3.4" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/434-wen-jian-bao-han.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/434-wen-jian-bao-han.html">
            
                    
                    4.3.4 文件包含
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.3.5" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/435-fen-zu-she-zhi.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/435-fen-zu-she-zhi.html">
            
                    
                    4.3.5 分组设置
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.5.4" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2.html">
            
                    
                    4.4 录制回放工具——rosbag2
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.5.4.1" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/441-ros2-bag-ming-ling-gong-ju.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/441-ros2-bag-ming-ling-gong-ju.html">
            
                    
                    4.4.1 ros2 bag 命令工具
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.4.2" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/442-rosbag2-zhi-c-shi-xian.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/442-rosbag2-zhi-c-shi-xian.html">
            
                    
                    4.4.2 rosbag2 编程（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.4.3" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/443-rosbag2-zhi-python-shi-xian.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/443-rosbag2-zhi-python-shi-xian.html">
            
                    
                    4.4.3 rosbag2 编程（Python）
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.5.5" data-path="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/46-ben-zhang-xiao-jie.html">
            
                <a href="di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/46-ben-zhang-xiao-jie.html">
            
                    
                    4.5 本章小结
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.6" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan.html">
            
                    
                    第5章 ROS2工具之坐标变换
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.6.1" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/51-zuo-biao-bian-huan-jian-jie.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/51-zuo-biao-bian-huan-jian-jie.html">
            
                    
                    5.1 坐标变换简介
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.6.1.1" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/51-zuo-biao-bian-huan-jian-jie/511-an-li-an-zhuang-yi-ji-yun-xing.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/51-zuo-biao-bian-huan-jian-jie/511-an-li-an-zhuang-yi-ji-yun-xing.html">
            
                    
                    5.1.1 案例安装以及运行
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.6.2" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/52-zuo-biao-xiao-xi.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/52-zuo-biao-xiao-xi.html">
            
                    
                    5.2 坐标相关消息
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo.html">
            
                    
                    5.3 坐标变换广播
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.6.3.1" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/531-jing-tai-zuo-biao-xi-guan-xi-guang-bo.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/531-jing-tai-zuo-biao-xi-guan-xi-guang-bo.html">
            
                    
                    5.3.1 坐标系广播案例以及分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.2" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/532-jing-tai-guang-bo-qi-ff08-ming-ling-ff09.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/532-jing-tai-guang-bo-qi-ff08-ming-ling-ff09.html">
            
                    
                    5.3.2 静态广播器（命令）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.3" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/533-jing-tai-guang-bo-qi-ff08-c-++.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/533-jing-tai-guang-bo-qi-ff08-c-++.html">
            
                    
                    5.3.3 静态广播器（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.4" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/534-jing-tai-guang-bo-qi-ff08-python.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/534-jing-tai-guang-bo-qi-ff08-python.html">
            
                    
                    5.3.4 静态广播器（Python）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.5" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/535-dong-tai-guang-bo-qi-ff08-c-++.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/535-dong-tai-guang-bo-qi-ff08-c-++.html">
            
                    
                    5.3.5 动态广播器（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.6" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/536-dong-tai-guang-bo-qi-ff08-python.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/536-dong-tai-guang-bo-qi-ff08-python.html">
            
                    
                    5.3.6 动态广播器（Python）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.7" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/537-zuo-biao-dian-fa-bu-an-li-fen-xi.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/537-zuo-biao-dian-fa-bu-an-li-fen-xi.html">
            
                    
                    5.3.7 坐标点发布案例以及分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.8" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/538-zuo-biao-dian-fa-bu-ff08-c-++.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/538-zuo-biao-dian-fa-bu-ff08-c-++.html">
            
                    
                    5.3.8 坐标点发布（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.9" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/539-zuo-biao-dian-fa-bu-ff08-python.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/539-zuo-biao-dian-fa-bu-ff08-python.html">
            
                    
                    5.3.9 坐标点发布（Python）
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.6.4" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting.html">
            
                    
                    5.4 坐标变换监听
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.6.4.1" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/541-zuo-biao-xi-bian-huan.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/541-zuo-biao-xi-bian-huan.html">
            
                    
                    5.4.1 坐标系变换案例以及分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.4.2" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/542-zuo-biao-dian-bian-huan.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/542-zuo-biao-dian-bian-huan.html">
            
                    
                    5.4.2 坐标系变换（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.4.3" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/543-zuo-biao-xi-bian-huan-ff08-c-++.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/543-zuo-biao-xi-bian-huan-ff08-c-++.html">
            
                    
                    5.4.3 坐标系变换（Python）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.4.4" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/544-zuo-biao-dian-bian-huan-ff08-c-++.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/544-zuo-biao-dian-bian-huan-ff08-c-++.html">
            
                    
                    5.4.4 坐标点变换（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.4.5" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/545-zuo-biao-dian-bian-huan-ff08-python.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/545-zuo-biao-dian-bian-huan-ff08-python.html">
            
                    
                    5.4.5 坐标点变换（Python）
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.6.5" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/55-tfgong-ju.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/55-tfgong-ju.html">
            
                    
                    5.5 坐标变换工具
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao.html">
            
                    
                    5.6 坐标变换实操
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.6.6.1" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/561-wu-gui-gen-sui-an-li-yi-ji-an-li-fen-xi.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/561-wu-gui-gen-sui-an-li-yi-ji-an-li-fen-xi.html">
            
                    
                    5.6.1 乌龟跟随案例以及分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6.2" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/562-wu-gui-gen-sui-shi-xian-ff08-c-++.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/562-wu-gui-gen-sui-shi-xian-ff08-c-++.html">
            
                    
                    5.6.2 乌龟跟随实现（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6.3" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/563-wu-gui-gen-sui-shi-xian-ff08-python.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/563-wu-gui-gen-sui-shi-xian-ff08-python.html">
            
                    
                    5.6.3 乌龟跟随实现（Python）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6.4" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/562-wu-gui-hu-hang-an-li-yi-ji-fen-xi.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/562-wu-gui-hu-hang-an-li-yi-ji-fen-xi.html">
            
                    
                    5.6.4 乌龟护航案例以及分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6.5" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/565-wu-gui-hu-hang-shi-xian-ff08-c-++.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/565-wu-gui-hu-hang-shi-xian-ff08-c-++.html">
            
                    
                    5.6.5 乌龟护航实现（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6.6" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/566-wu-gui-hu-hang-shi-xian-ff08-python.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/566-wu-gui-hu-hang-shi-xian-ff08-python.html">
            
                    
                    5.6.6 乌龟护航实现（Python）
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.6.7" data-path="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/57-ben-zhang-xiao-jie.html">
            
                <a href="di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/57-ben-zhang-xiao-jie.html">
            
                    
                    5.7 本章小结
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.7" data-path="di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen.html">
            
                <a href="di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen.html">
            
                    
                    第6章 ROS2工具之可视化
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.7.1" data-path="di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/61-gai-shu.html">
            
                <a href="di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/61-gai-shu.html">
            
                    
                    6.1 可视化简介
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.7.2" data-path="di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/62-rviz2-ji-ben-shi-yong.html">
            
                <a href="di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/62-rviz2-ji-ben-shi-yong.html">
            
                    
                    6.2 rviz2 基本使用
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.7.3" data-path="di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/63-urdfji-cheng-rviz2-ji-ben-liu-cheng.html">
            
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                    6.3 rviz2集成URDF基本流程
            
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                    6.3.1 案例以及案例分析
            
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                    6.4 URDF使用语法
            
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                    6.4.1 URDF语法01_robot
            
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                    6.4.2 URDF语法02_link
            
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                    6.4.3 URDF语法03_joint
            
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                    6.4.4 URDF练习
            
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                    6.4.5 URDF工具
            
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                    6.5 URDF优化_xacro
            
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                    6.5.1 xacro_快速体验
            
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                    6.5.2 xacro_使用语法
            
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                    6.5.3 xacro_练习
            
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                                <h1 id="&#x7B2C;1&#x7AE0;-ros2&#x6982;&#x8FF0;&#x4E0E;&#x73AF;&#x5883;&#x642D;&#x5EFA;">&#x7B2C;1&#x7AE0; ROS2&#x6982;&#x8FF0;&#x4E0E;&#x73AF;&#x5883;&#x642D;&#x5EFA;</h1>
<p>ROS&#x662F;&#x673A;&#x5668;&#x4EBA;&#x64CD;&#x4F5C;&#x7CFB;&#x7EDF;(Robot Operating System)&#x7684;&#x82F1;&#x6587;&#x7F29;&#x5199;&#xFF0C;&#x662F;&#x7528;&#x4E8E;&#x6784;&#x5EFA;&#x673A;&#x5668;&#x4EBA;&#x5E94;&#x7528;&#x7A0B;&#x5E8F;&#x7684;&#x8F6F;&#x4EF6;&#x5F00;&#x53D1;&#x5DE5;&#x5177;&#x5305;&#x3002;&#x81EA;ROS&#x8BDE;&#x751F;&#x4EE5;&#x6765;&#xFF0C;&#x7531;&#x4E8E;&#x5176;&#x96C6;&#x5F00;&#x6E90;&#x3001;&#x514D;&#x8D39;&#x3001;&#x6613;&#x7528;&#x3001;&#x4F4E;&#x8026;&#x5408;&#x3001;&#x751F;&#x6001;&#x4E30;&#x5BCC;......&#x8BF8;&#x591A;&#x4F18;&#x70B9;&#x4E8E;&#x4E00;&#x8EAB;&#xFF0C;&#x8FC5;&#x901F;&#x6210;&#x4E3A;&#x673A;&#x5668;&#x4EBA;&#x884C;&#x4E1A;&#x5185;&#x6700;&#x53D7;&#x6B22;&#x8FCE;&#x7684;&#x5F00;&#x53D1;&#x6846;&#x67B6;&#x4E4B;&#x4E00;&#xFF0C;&#x5728;&#x5B66;&#x672F;&#x3001;&#x6C11;&#x7528;&#x3001;&#x5546;&#x4E1A;&#x3001;&#x519B;&#x4E8B;&#x3001;&#x822A;&#x7A7A;&#x822A;&#x5929;&#x7B49;&#x9886;&#x57DF;&#x6709;&#x7740;&#x5E7F;&#x6CDB;&#x7684;&#x5E94;&#x7528;&#xFF0C;&#x5E76;&#x4E14;&#x968F;&#x7740;ROS2&#x5BF9;ROS1&#x7684;&#x5168;&#x9762;&#x8FED;&#x4EE3;&#x5347;&#x7EA7;&#xFF0C;&#x4E5F;&#x4F7F;&#x5F97;ROS&#x65E5;&#x8D8B;&#x4E8E;&#x5B8C;&#x5584;&#xFF0C;&#x53EF;&#x9884;&#x89C1;&#x7684;&#xFF0C;&#x672A;&#x6765;&#x5F88;&#x957F;&#x4E00;&#x6BB5;&#x65F6;&#x95F4;&#xFF0C;ROS&#x4ECD;&#x5C06;&#x662F;&#x673A;&#x5668;&#x4EBA;&#x5F00;&#x53D1;&#x7684;&#x4E2D;&#x575A;&#x529B;&#x91CF;&#xFF0C;&#x800C;&#x5BF9;&#x4E8E;ROS&#x81EA;&#x8EAB;&#x800C;&#x8A00;&#xFF0C;ROS1&#x4F1A;&#x6162;&#x6162;&#x9000;&#x51FA;&#xFF0C;ROS2&#x5219;&#x5189;&#x5189;&#x5347;&#x8D77;&#x3002;</p>
<p>&#x672C;&#x7AE0;&#x4F5C;&#x4E3A;ROS2&#x6838;&#x5FC3;&#x6559;&#x7A0B;&#x7684;&#x5F00;&#x7BC7;&#xFF0C;&#x4EE5;ROS2&#x7684;&#x7EFC;&#x8FF0;&#x6027;&#x77E5;&#x8BC6;&#x4E3A;&#x4E3B;&#xFF0C;&#x4F1A;&#x5FAA;&#x5E8F;&#x6E10;&#x8FDB;&#x7684;&#x5E26;&#x9886;&#x5927;&#x5BB6;&#x8BA4;&#x8BC6;ROS2&#x3001;&#x5B89;&#x88C5;ROS2&#x5E76;&#x642D;&#x5EFA;&#x5176;&#x96C6;&#x6210;&#x5F00;&#x53D1;&#x73AF;&#x5883;&#xFF0C;&#x4E3A;ROS2&#x7684;&#x5168;&#x65B9;&#x4F4D;&#x5B66;&#x4E60;&#x505A;&#x597D;&#x51C6;&#x5907;&#x3002;</p>
<h4 id="&#x672C;&#x7AE0;&#x6982;&#x89C8;">&#x672C;&#x7AE0;&#x6982;&#x89C8;</h4>
<table>
<thead>
<tr>
<th style="text-align:left"><strong>&#x7AE0;&#x8282;</strong></th>
<th style="text-align:left"><strong>&#x5B66;&#x4E60;&#x5185;&#x5BB9;</strong></th>
<th style="text-align:left"><strong>&#x5B66;&#x4E60;&#x6536;&#x83B7;</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td style="text-align:left">1.1 ROS2&#x7B80;&#x4ECB;</td>
<td style="text-align:left">ROS2&#x7684;&#x7406;&#x8BBA;&#x77E5;&#x8BC6;&#xFF0C;&#x6BD4;&#x5982;&#xFF1A;&#x6982;&#x5FF5;&#x3001;&#x53D1;&#x5C55;&#x5386;&#x7A0B;&#x3001;&#x7EC4;&#x6210;&#x4F53;&#x7CFB;&#x3001;&#x5728;&#x673A;&#x5668;&#x4EBA;&#x9886;&#x57DF;&#x7684;&#x5E94;&#x7528;&#x4F18;&#x52BF;&#x7B49;&#x3002;</td>
<td style="text-align:left">&#x53EF;&#x4EE5;&#x4E86;&#x89E3;ROS2&#x5728;&#x673A;&#x5668;&#x4EBA;&#x9886;&#x57DF;&#x7684;&#x5730;&#x4F4D;&#x4EE5;&#x53CA;&#x5B9A;&#x4F4D;&#x3002;</td>
</tr>
<tr>
<td style="text-align:left">1.2 ROS2&#x5B89;&#x88C5;</td>
<td style="text-align:left">ROS2&#x5728;Ubuntu&#x64CD;&#x4F5C;&#x7CFB;&#x7EDF;&#x4E0B;&#x7684;&#x5B89;&#x88C5;&#x3001;&#x6D4B;&#x8BD5;&#x4E0E;&#x57FA;&#x672C;&#x4F7F;&#x7528;&#x914D;&#x7F6E;&#x3002;</td>
<td style="text-align:left">&#x80FD;&#x591F;&#x72EC;&#x7ACB;&#x642D;&#x5EFA;ROS2&#x7684;&#x5F00;&#x53D1;&#x3001;&#x8FD0;&#x884C;&#x73AF;&#x5883;&#x3002;</td>
</tr>
<tr>
<td style="text-align:left">1.3 ROS2&#x5FEB;&#x901F;&#x4F53;&#x9A8C;</td>
<td style="text-align:left">&#x4ECB;&#x7ECD;&#x5982;&#x4F55;&#x5206;&#x522B;&#x4F7F;&#x7528;C++ &#x548C; Python&#x5B9E;&#x73B0;&#x7B2C;&#x4E00;&#x4E2A;ROS2&#x5C0F;&#x7A0B;&#x5E8F;&#x3002;</td>
<td style="text-align:left">&#x80FD;&#x591F;&#x638C;&#x63E1;ROS2&#x7A0B;&#x5E8F;&#x7684;&#x7F16;&#x5199;&#x3001;&#x7F16;&#x8BD1;&#x4E0E;&#x6267;&#x884C;&#x6D41;&#x7A0B;&#x3002;</td>
</tr>
<tr>
<td style="text-align:left">1.4 ROS2&#x96C6;&#x6210;&#x5F00;&#x53D1;&#x73AF;&#x5883;&#x642D;&#x5EFA;</td>
<td style="text-align:left">&#x4ECB;&#x7ECD;&#x5982;&#x4F55;&#x4F7F;&#x7528;VSCode&#x642D;&#x5EFA;ROS2&#x7684;&#x96C6;&#x6210;&#x5F00;&#x53D1;&#x73AF;&#x5883;&#x3002;</td>
<td style="text-align:left">&#x80FD;&#x591F;&#x72EC;&#x7ACB;&#x5B8C;&#x6210;VSCode&#x5B89;&#x88C5;&#x5E76;&#x914D;&#x7F6E;ROS2&#x76F8;&#x5173;&#x63D2;&#x4EF6;&#xFF0C;&#x63D0;&#x9AD8;&#x7A0B;&#x5E8F;&#x7684;&#x5F00;&#x53D1;&#x6548;&#x7387;&#x3002;</td>
</tr>
<tr>
<td style="text-align:left">1.5 ROS2&#x4F53;&#x7CFB;&#x6846;&#x67B6;</td>
<td style="text-align:left">ROS2&#x7684;&#x6587;&#x4EF6;&#x7CFB;&#x7EDF;&#x4EE5;&#x53CA;&#x5E38;&#x7528;&#x7684;&#x529F;&#x80FD;&#x6A21;&#x5757;&#x3002;</td>
<td style="text-align:left">&#x80FD;&#x591F;&#x5728;&#x5B8F;&#x89C2;&#x4E0A;&#x5EFA;&#x7ACB;&#x5BF9;ROS2&#x7684;&#x4F53;&#x7CFB;&#x7ED3;&#x6784;&#x7684;&#x57FA;&#x672C;&#x8BA4;&#x77E5;&#xFF0C;&#x5927;&#x81F4;&#x4E86;&#x89E3;&#x5404;&#x4E2A;&#x6A21;&#x5757;&#x7684;&#x5E94;&#x7528;&#x573A;&#x666F;&#xFF0C;&#x660E;&#x786E;&#x5F00;&#x53D1;&#x8FC7;&#x7A0B;&#x4E2D;&#x7684;&#x91CD;&#x70B9;&#x5DE5;&#x4F5C;&#x5185;&#x5BB9;&#x3002;</td>
</tr>
<tr>
<td style="text-align:left">1.6 &#x672C;&#x7AE0;&#x5C0F;&#x7ED3;</td>
<td style="text-align:left">&#x77E5;&#x8BC6;&#x70B9;&#x6C47;&#x603B;&#x3002;</td>
<td style="text-align:left">&#x77E5;&#x8BC6;&#x70B9;&#x56DE;&#x987E;&#x3002;</td>
</tr>
</tbody>
</table>
<h4 id="&#x6848;&#x4F8B;&#x6F14;&#x793A;">&#x6848;&#x4F8B;&#x6F14;&#x793A;</h4>
<p><strong>&#x6848;&#x4F8B;1&#xFF1A;</strong>ROS2&#x5B89;&#x88C5;&#x5B8C;&#x6BD5;&#x540E;&#xFF0C;&#x8FD0;&#x884C;&#x5176;&#x5B98;&#x65B9;&#x4F8B;&#x7A0B;&#xFF1A;&#x5C0F;&#x4E4C;&#x9F9F;&#x3002;</p>
<p><img src="assets/1.2.2&#x4E4C;&#x9F9F;&#x6D4B;&#x8BD5;.gif" alt=""></p>
<p><strong>&#x6848;&#x4F8B;2&#xFF1A;</strong>&#x81EA;&#x5B9E;&#x73B0;&#x7B2C;&#x4E00;&#x4E2A;ROS2&#x5C0F;&#x7A0B;&#x5E8F;&#xFF0C;&#x5728;&#x7EC8;&#x7AEF;&#x8F93;&#x51FA;&#x6587;&#x672C;&#xFF1A;hello world!&#x3002;</p>
<p><img src="assets/1.3.1helloworld.PNG" alt=""></p>
<p><strong>&#x6848;&#x4F8B;3&#xFF1A;</strong>&#x4F7F;&#x7528;VSCode&#x642D;&#x5EFA;ROS2&#x96C6;&#x6210;&#x5F00;&#x53D1;&#x73AF;&#x5883;&#xFF0C;&#x63D0;&#x9AD8;&#x5F00;&#x53D1;&#x6548;&#x7387;&#x3002;</p>
<p><img src="assets/1.4.1code&#x4F7F;&#x7528;&#x6F14;&#x793A;.gif" alt=""></p>

                                
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